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AP_Camera: allow compilation with HAL_LOGGING_ENABLED false

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Peter Barker 2023-07-14 10:58:05 +10:00 committed by Andrew Tridgell
parent 6e27488bfd
commit 4b30963d1d
2 changed files with 11 additions and 2 deletions
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8
libraries/AP_Camera/AP_Camera_Backend.cpp
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@ -140,7 +140,9 @@ bool AP_Camera_Backend::take_picture()
image_index++; image_index++;
last_picture_time_ms = now_ms; last_picture_time_ms = now_ms;
IGNORE_RETURN(AP::ahrs().get_location(last_location)); IGNORE_RETURN(AP::ahrs().get_location(last_location));
#if HAL_LOGGING_ENABLED
log_picture(); log_picture();
#endif
return true; return true;
} }
@ -358,16 +360,20 @@ void AP_Camera_Backend::feedback_pin_timer()
void AP_Camera_Backend::check_feedback() void AP_Camera_Backend::check_feedback()
{ {
if (feedback_trigger_logged_count != feedback_trigger_count) { if (feedback_trigger_logged_count != feedback_trigger_count) {
#if HAL_LOGGING_ENABLED
const uint32_t timestamp32 = feedback_trigger_timestamp_us; const uint32_t timestamp32 = feedback_trigger_timestamp_us;
#endif
feedback_trigger_logged_count = feedback_trigger_count; feedback_trigger_logged_count = feedback_trigger_count;
// we should consider doing this inside the ISR and pin_timer // we should consider doing this inside the ISR and pin_timer
prep_mavlink_msg_camera_feedback(feedback_trigger_timestamp_us); prep_mavlink_msg_camera_feedback(feedback_trigger_timestamp_us);
#if HAL_LOGGING_ENABLED
// log camera message // log camera message
uint32_t tdiff = AP_HAL::micros() - timestamp32; uint32_t tdiff = AP_HAL::micros() - timestamp32;
uint64_t timestamp = AP_HAL::micros64(); uint64_t timestamp = AP_HAL::micros64();
Write_Camera(timestamp - tdiff); Write_Camera(timestamp - tdiff);
#endif
} }
} }
@ -386,6 +392,7 @@ void AP_Camera_Backend::prep_mavlink_msg_camera_feedback(uint64_t timestamp_us)
GCS_SEND_MESSAGE(MSG_CAMERA_FEEDBACK); GCS_SEND_MESSAGE(MSG_CAMERA_FEEDBACK);
} }
#if HAL_LOGGING_ENABLED
// log picture // log picture
void AP_Camera_Backend::log_picture() void AP_Camera_Backend::log_picture()
{ {
@ -404,5 +411,6 @@ void AP_Camera_Backend::log_picture()
Write_Trigger(); Write_Trigger();
} }
} }
#endif
#endif // AP_CAMERA_ENABLED #endif // AP_CAMERA_ENABLED

5
libraries/AP_Camera/AP_Camera_Logging.cpp
View File

@ -1,7 +1,8 @@
#include "AP_Camera_Backend.h" #include "AP_Camera_Backend.h"
#include <AP_Mount/AP_Mount.h> #include <AP_Mount/AP_Mount.h>
#include <AP_Logger/AP_Logger_config.h>
#if AP_CAMERA_ENABLED #if AP_CAMERA_ENABLED && HAL_LOGGING_ENABLED
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>
@ -85,4 +86,4 @@ void AP_Camera_Backend::Write_Trigger()
Write_CameraInfo(LOG_TRIGGER_MSG, 0); Write_CameraInfo(LOG_TRIGGER_MSG, 0);
} }
#endif #endif // AP_CAMERA_ENABLED && HAL_LOGGING_ENABLED